/*
This file is part of Repetier-Firmware.

Repetier-Firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

Repetier-Firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with Repetier-Firmware.  If not, see <http://www.gnu.org/licenses/>.

This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
*/

#include "Repetier.h"

const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS; // Sensitive pin list for M42
int Commands::lowestRAMValue = MAX_RAM;
int Commands::lowestRAMValueSend = MAX_RAM;

void Commands::commandLoop() {
	while (true) {
#ifdef DEBUG_PRINT
		debugWaitLoop = 1;
#endif
		if (!Printer::isBlockingReceive()) {
			GCode::readFromSerial();
			GCode *code = GCode::peekCurrentCommand();
			//UI_SLOW; // do longer timed user interface action
			UI_MEDIUM; // do check encoder
			if (code) {
#if SDSUPPORT
				if (sd.savetosd) {
					if (!(code->hasM() && code->M == 29))   // still writing to file
						sd.writeCommand(code);
					else
						sd.finishWrite();
#if ECHO_ON_EXECUTE
					code->echoCommand();
#endif
				}
				else
#elif USBDISKSUPPORT
				if (usbdisk.savetosd) {
					if (!(code->hasM() && code->M == 29))   // still writing to file
						usbdisk.writeCommand(code);
					else
						usbdisk.finishWrite();
#ifdef ECHO_ON_EXECUTE
					code->echoCommand();
#endif
				}
				else
#endif
					Commands::executeGCode(code);
				code->popCurrentCommand();
			}
		}
		else {
			UI_MEDIUM;
		}
		Printer::defaultLoopActions();
	}
}

void Commands::checkForPeriodicalActions(bool allowNewMoves) {
	Printer::handleInterruptEvent();
	EVENT_PERIODICAL;
	if (executePeriodical)
	{
		executePeriodical = 0;
		EVENT_TIMER_100MS;
		Extruder::manageTemperatures();
		if (--counter250ms == 0) {
			if (manageMonitor)
				writeMonitor();
			counter250ms = 5;
			EVENT_TIMER_500MS;
		}
	}
	if (updateUIPeriodical)
	{
		updateUIPeriodical = 0;
		// If called from queueDelta etc. it is an error to start a new move since it
		// would invalidate old computation resulting in unpredicted behavior.
		// lcd controller can start new moves, so we disallow it if called from within
		// a move command.
		UI_SLOW(allowNewMoves);
	}
}

/** \brief Waits until movement cache is empty.

Some commands expect no movement, before they can execute. This function
waits, until the steppers are stopped. In the meanwhile it buffers incoming
commands and manages temperatures.
*/
void Commands::waitUntilEndOfAllMoves() {
#ifdef DEBUG_PRINT
	debugWaitLoop = 8;
#endif
	while (PrintLine::hasLines()) {
		GCode::readFromSerial();
		checkForPeriodicalActions(false);
		UI_MEDIUM;
	}
}

void Commands::waitUntilEndOfAllBuffers() {
	GCode *code = NULL;
#ifdef DEBUG_PRINT
	debugWaitLoop = 9;
#endif
	while (PrintLine::hasLines() || (code != NULL)) {
		GCode::readFromSerial();
		code = GCode::peekCurrentCommand();
		UI_MEDIUM; // do check encoder
		if (code) {
#if SDSUPPORT
			if (sd.savetosd) {
				if (!(code->hasM() && code->M == 29))   // still writing to file
					sd.writeCommand(code);
				else
					sd.finishWrite();
#if ECHO_ON_EXECUTE
				code->echoCommand();
#endif
			}
			else
#elif USBDISKSUPPORT
			if (usbdisk.savetosd) {
				if (!(code->hasM() && code->M == 29))   // still writing to file
					usbdisk.writeCommand(code);
				else
					usbdisk.finishWrite();
#ifdef ECHO_ON_EXECUTE
				code->echoCommand();
#endif
			}
			else
#endif
				Commands::executeGCode(code);
			code->popCurrentCommand();
		}
		Commands::checkForPeriodicalActions(false); // only called from memory
		UI_MEDIUM;
	}
}

void Commands::printCurrentPosition(FSTRINGPARAM(s)) {
	float x, y, z;
	Printer::realPosition(x, y, z);
	if (isnan(x) || isinf(x) || isnan(y) || isinf(y) || isnan(z) || isinf(z)) {
		Com::printErrorFLN(s); // flag where the error condition came from
	}
	x += Printer::coordinateOffset[X_AXIS];
	y += Printer::coordinateOffset[Y_AXIS];
	z += Printer::coordinateOffset[Z_AXIS];
	Com::printF(Com::tXColon, x * (Printer::unitIsInches ? 0.03937 : 1), 2);
	Com::printF(Com::tSpaceYColon, y * (Printer::unitIsInches ? 0.03937 : 1), 2);
	Com::printF(Com::tSpaceZColon, z * (Printer::unitIsInches ? 0.03937 : 1), 3);
	Com::printFLN(Com::tSpaceEColon, Printer::currentPositionSteps[E_AXIS] * Printer::invAxisStepsPerMM[E_AXIS] * (Printer::unitIsInches ? 0.03937 : 1), 4);
	//Com::printF(PSTR("OffX:"),Printer::offsetX); // to debug offset handling
	//Com::printFLN(PSTR(" OffY:"),Printer::offsetY);
}

void Commands::printTemperatures(bool showRaw) {
#if NUM_EXTRUDER > 0
	float temp = Extruder::current->tempControl.currentTemperatureC;
#if HEATED_BED_SENSOR_TYPE == 0
	Com::printF(Com::tTColon, temp);
	Com::printF(Com::tSpaceSlash, Extruder::current->tempControl.targetTemperatureC, 0);
#else
	Com::printF(Com::tTColon, temp);
	Com::printF(Com::tSpaceSlash, Extruder::current->tempControl.targetTemperatureC, 0);
#if HAVE_HEATED_BED
	Com::printF(Com::tSpaceBColon, Extruder::getHeatedBedTemperature());
	Com::printF(Com::tSpaceSlash, heatedBedController.targetTemperatureC, 0);
	if (showRaw) {
		Com::printF(Com::tSpaceRaw, (int)NUM_EXTRUDER);
		Com::printF(Com::tColon, (1023 << (2 - ANALOG_REDUCE_BITS)) - heatedBedController.currentTemperature);
	}
	Com::printF(Com::tSpaceBAtColon, (pwm_pos[heatedBedController.pwmIndex])); // Show output of auto tune when tuning!
#endif
#endif
#if TEMP_PID
	Com::printF(Com::tSpaceAtColon, (autotuneIndex == 255 ? pwm_pos[Extruder::current->id] : pwm_pos[autotuneIndex])); // Show output of auto tune when tuning!
#endif
#if NUM_EXTRUDER > 1 && MIXING_EXTRUDER == 0
	for (uint8_t i = 0; i < NUM_EXTRUDER; i++) {
		Com::printF(Com::tSpaceT, (int)i);
		Com::printF(Com::tColon, extruder[i].tempControl.currentTemperatureC);
		Com::printF(Com::tSpaceSlash, extruder[i].tempControl.targetTemperatureC, 0);
#if TEMP_PID
		Com::printF(Com::tSpaceAt, (int)i);
		Com::printF(Com::tColon, (pwm_pos[extruder[i].tempControl.pwmIndex])); // Show output of autotune when tuning!
#endif
		if (showRaw) {
			Com::printF(Com::tSpaceRaw, (int)i);
			Com::printF(Com::tColon, (1023 << (2 - ANALOG_REDUCE_BITS)) - extruder[i].tempControl.currentTemperature);
		}
	}
#elif NUM_EXTRUDER == 1
	if (showRaw) {
		Com::printF(Com::tSpaceRaw, (int)0);
		Com::printF(Com::tColon, (1023 << (2 - ANALOG_REDUCE_BITS)) - extruder[0].tempControl.currentTemperature);
	}
#endif
	Com::println();
#endif
}
void Commands::changeFeedrateMultiply(int factor) {
	if (factor < 25) factor = 25;
	if (factor > 500) factor = 500;
	Printer::feedrate *= (float)factor / (float)Printer::feedrateMultiply;
	Printer::feedrateMultiply = factor;
	Com::printFLN(Com::tSpeedMultiply, factor);
}

void Commands::changeFlowrateMultiply(int factor) {
	if (factor < 25) factor = 25;
	if (factor > 200) factor = 200;
	Printer::extrudeMultiply = factor;
	if (Extruder::current->diameter <= 0)
		Printer::extrusionFactor = 0.01f * static_cast<float>(factor);
	else
		Printer::extrusionFactor = 0.01f * static_cast<float>(factor) * 4.0f / (Extruder::current->diameter * Extruder::current->diameter * 3.141592654f);
	Com::printFLN(Com::tFlowMultiply, factor);
}

#if FEATURE_FAN_CONTROL
uint8_t fanKickstart;
#endif
#if FEATURE_FAN2_CONTROL
uint8_t fan2Kickstart;
#endif

void Commands::setFanSpeed(int speed, bool immediately) {
#if FAN_PIN >- 1 && FEATURE_FAN_CONTROL
	if (Printer::fanSpeed == speed)
		return;
	speed = constrain(speed, 0, 255);
	Printer::setMenuMode(MENU_MODE_FAN_RUNNING, speed != 0);
	Printer::fanSpeed = speed;
	if (PrintLine::linesCount == 0 || immediately) {
		if (Printer::mode == PRINTER_MODE_FFF) {
			for (fast8_t i = 0; i < PRINTLINE_CACHE_SIZE; i++)
				PrintLine::lines[i].secondSpeed = speed;         // fill all printline buffers with new fan speed value
		}
		Printer::setFanSpeedDirectly(speed);
	}
	Com::printFLN(Com::tFanspeed, speed); // send only new values to break update loops!
#endif
}
void Commands::setFan2Speed(int speed) {
#if FAN2_PIN >- 1 && FEATURE_FAN2_CONTROL
	speed = constrain(speed, 0, 255);
	Printer::setFan2SpeedDirectly(speed);
	Com::printFLN(Com::tFan2speed, speed); // send only new values to break update loops!
#endif
}

void Commands::reportPrinterUsage() {
#if EEPROM_MODE != 0
	float dist = Printer::filamentPrinted * 0.001 + HAL::eprGetFloat(EPR_PRINTING_DISTANCE);
	Com::printF(Com::tPrintedFilament, dist, 2);
	Com::printF(Com::tSpacem);
	bool alloff = true;
#if NUM_EXTRUDER > 0
	for (uint8_t i = 0; i < NUM_EXTRUDER; i++)
		if (tempController[i]->targetTemperatureC > 15) alloff = false;
#endif
	int32_t seconds = (alloff ? 0 : (HAL::timeInMilliseconds() - Printer::msecondsPrinting) / 1000) + HAL::eprGetInt32(EPR_PRINTING_TIME);
	int32_t tmp = seconds / 86400;
	seconds -= tmp * 86400;
	Com::printF(Com::tPrintingTime, tmp);
	tmp = seconds / 3600;
	Com::printF(Com::tSpaceDaysSpace, tmp);
	seconds -= tmp * 3600;
	tmp = seconds / 60;
	Com::printF(Com::tSpaceHoursSpace, tmp);
	Com::printFLN(Com::tSpaceMin);
#endif
}
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_DIGIPOT
// Digipot methods for controling current and microstepping

#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
int digitalPotWrite(int address, uint16_t value) { // From Arduino DigitalPotControl example
	if (value > 255)
		value = 255;
	WRITE(DIGIPOTSS_PIN, LOW); // take the SS pin low to select the chip
	HAL::spiSend(address); //  send in the address and value via SPI:
	HAL::spiSend(value);
	WRITE(DIGIPOTSS_PIN, HIGH); // take the SS pin high to de-select the chip:
	//delay(10);
}

void setMotorCurrent(uint8_t driver, uint16_t current) {
	if (driver > 4) return;
	const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
	digitalPotWrite(digipot_ch[driver], current);
}

void setMotorCurrentPercent(uint8_t channel, float level) {
	uint16_t raw_level = (level * 255 / 100);
	setMotorCurrent(channel, raw_level);
}
#endif

void motorCurrentControlInit() { //Initialize Digipot Motor Current
#if DIGIPOTSS_PIN && DIGIPOTSS_PIN > -1
	HAL::spiInit(0); //SPI.begin();
	SET_OUTPUT(DIGIPOTSS_PIN);
#ifdef MOTOR_CURRENT_PERCENT
	const float digipot_motor_current[] = MOTOR_CURRENT_PERCENT;
	for (int i = 0; i <= 4; i++)
		//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
		setMotorCurrentPercent(i, digipot_motor_current[i]);
#else
	const uint8_t digipot_motor_current[] = MOTOR_CURRENT;
	for (int i = 0; i <= 4; i++)
		//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
		setMotorCurrent(i, digipot_motor_current[i]);
#endif
#endif
}
#endif

#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_LTC2600

void setMotorCurrent(uint8_t channel, unsigned short level) {
	if (channel >= LTC2600_NUM_CHANNELS) return;
	const uint8_t ltc_channels[] = LTC2600_CHANNELS;
	if (channel > LTC2600_NUM_CHANNELS) return;
	uint8_t address = ltc_channels[channel];
	fast8_t i;

	// NOTE: Do not increase the current endlessly. In case the engine reaches its current saturation, the engine and the driver can heat up and loss power.
	// When the saturation is reached, more current causes more heating and more power loss.
	// In case of engines with lower quality, the saturation current may be reached before the nominal current.

	// configure the pins
	WRITE(LTC2600_CS_PIN, HIGH);
	SET_OUTPUT(LTC2600_CS_PIN);
	WRITE(LTC2600_SCK_PIN, LOW);
	SET_OUTPUT(LTC2600_SCK_PIN);
	WRITE(LTC2600_SDI_PIN, LOW);
	SET_OUTPUT(LTC2600_SDI_PIN);

	// enable the command interface of the LTC2600
	WRITE(LTC2600_CS_PIN, LOW);

	// transfer command and address
	for (i = 7; i >= 0; i--) {
		WRITE(LTC2600_SDI_PIN, address & (0x01 << i));
		WRITE(LTC2600_SCK_PIN, 1);
		WRITE(LTC2600_SCK_PIN, 0);
	}

	// transfer the data word
	for (i = 15; i >= 0; i--) {
		WRITE(LTC2600_SDI_PIN, level & (0x01 << i));
		WRITE(LTC2600_SCK_PIN, 1);
		WRITE(LTC2600_SCK_PIN, 0);
	}

	// disable the ommand interface of the LTC2600 -
	// this carries out the specified command
	WRITE(LTC2600_CS_PIN, HIGH);
} // setLTC2600
void setMotorCurrentPercent(uint8_t channel, float level) {
	if (level > 100.0f) level = 100.0f;
	uint16_t raw_level = static_cast<uint16_t>((long)level * 65535L / 100L);
	setMotorCurrent(channel, raw_level);
}

void motorCurrentControlInit() { //Initialize LTC2600 Motor Current
	uint8_t i;
#ifdef MOTOR_CURRENT_PERCENT
	const float digipot_motor_current[] = MOTOR_CURRENT_PERCENT;
	for (int i = 0; i < LTC2600_NUM_CHANNELS; i++)
		//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
		setMotorCurrentPercent(i, digipot_motor_current[i]);
#else
	const unsigned int ltc_current[] = MOTOR_CURRENT;
	for (i = 0; i < LTC2600_NUM_CHANNELS; i++) {
		setMotorCurrent(i, ltc_current[i]);
	}
#endif
}
#endif

#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_ALLIGATOR
void setMotorCurrent(uint8_t channel, unsigned short value) {
	if (channel >= 7) // max channel (X,Y,Z,E0,E1,E2,E3)
		return;
	if (value > 255)
		value = 255;

	uint8_t externalDac_buf[2] = { 0x10, 0x00 };

	if (channel > 3)
		externalDac_buf[0] |= (7 - channel << 6);
	else
		externalDac_buf[0] |= (3 - channel << 6);

	externalDac_buf[0] |= (value >> 4);
	externalDac_buf[1] |= (value << 4);

	// All SPI chip-select HIGH
	WRITE(DAC0_SYNC, HIGH);
	WRITE(DAC1_SYNC, HIGH);
	WRITE(SPI_EEPROM1_CS, HIGH);
	WRITE(SPI_EEPROM2_CS, HIGH);
	WRITE(SPI_FLASH_CS, HIGH);
	WRITE(SDSS, HIGH);

	if (channel > 3) { // DAC Piggy E1,E2,E3
		WRITE(DAC1_SYNC, LOW);
		HAL::delayMicroseconds(2);
		WRITE(DAC1_SYNC, HIGH);
		HAL::delayMicroseconds(2);
		WRITE(DAC1_SYNC, LOW);
	}
	else { // DAC onboard X,Y,Z,E0
		WRITE(DAC0_SYNC, LOW);
		HAL::delayMicroseconds(2);
		WRITE(DAC0_SYNC, HIGH);
		HAL::delayMicroseconds(2);
		WRITE(DAC0_SYNC, LOW);
	}

	HAL::delayMicroseconds(2);
	HAL::spiSend(SPI_CHAN_DAC, externalDac_buf, 2);
}

void setMotorCurrentPercent(uint8_t channel, float level) {
	uint16_t raw_level = (level * 255 / 100);
	setMotorCurrent(channel, raw_level);
}

void motorCurrentControlInit() { //Initialize Motor Current
	uint8_t externalDac_buf[2] = { 0x20, 0x00 };//all off

	// All SPI chip-select HIGH
	WRITE(DAC0_SYNC, HIGH);
	WRITE(DAC1_SYNC, HIGH);
	WRITE(SPI_EEPROM1_CS, HIGH);
	WRITE(SPI_EEPROM2_CS, HIGH);
	WRITE(SPI_FLASH_CS, HIGH);
	WRITE(SDSS, HIGH);

	// init onboard DAC
	WRITE(DAC0_SYNC, LOW);
	HAL::delayMicroseconds(2);
	WRITE(DAC0_SYNC, HIGH);
	HAL::delayMicroseconds(2);
	WRITE(DAC0_SYNC, LOW);

	HAL::spiSend(SPI_CHAN_DAC, externalDac_buf, 2);
	WRITE(DAC0_SYNC, HIGH);

#if NUM_EXTRUDER > 1
	// init Piggy DAC
	WRITE(DAC1_SYNC, LOW);
	HAL::delayMicroseconds(2);
	WRITE(DAC1_SYNC, HIGH);
	HAL::delayMicroseconds(2);
	WRITE(DAC1_SYNC, LOW);

	HAL::spiSend(SPI_CHAN_DAC, externalDac_buf, 2);
	WRITE(DAC1_SYNC, HIGH);
#endif

#ifdef MOTOR_CURRENT_PERCENT
	const float digipot_motor_current[] = MOTOR_CURRENT_PERCENT;
	for (int i = 0; i < NUM_EXTRUDER + 3; i++)
		setMotorCurrentPercent(i, digipot_motor_current[i]);
#else
	const uint8_t digipot_motor_current[] = MOTOR_CURRENT;
	for (uint8_t i = 0; i < NUM_EXTRUDER + 3; i++)
		setMotorCurrent(i, digipot_motor_current[i]);
#endif
}
#endif

#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_MCP4728
uint8_t   _intVref[] = { MCP4728_VREF, MCP4728_VREF, MCP4728_VREF, MCP4728_VREF };
uint8_t   _gain[] = { MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN };
uint8_t   _powerDown[] = { 0,0,0,0 };
int16_t   dac_motor_current[] = { 0,0,0,0 };

uint8_t   _intVrefEp[] = { MCP4728_VREF, MCP4728_VREF, MCP4728_VREF, MCP4728_VREF };
uint8_t   _gainEp[] = { MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN };
uint8_t   _powerDownEp[] = { 0,0,0,0 };
int16_t    _valuesEp[] = { 0,0,0,0 };

uint8_t   dac_stepper_channel[] = MCP4728_STEPPER_ORDER;

int dacSimpleCommand(uint8_t simple_command) {
	HAL::i2cStartWait(MCP4728_GENERALCALL_ADDRESS + I2C_WRITE);
	HAL::i2cWrite(simple_command);
	HAL::i2cStop();
}

void dacReadStatus() {
	HAL::delayMilliseconds(500);
	HAL::i2cStartWait(MCP4728_I2C_ADDRESS | I2C_READ);

	for (int i = 0; i < 8; i++) { // 2 sets of 4 Channels (1 EEPROM, 1 Runtime)
		uint8_t deviceID = HAL::i2cReadAck();
		uint8_t  hiByte = HAL::i2cReadAck();
		uint8_t  loByte = ((i < 7) ? HAL::i2cReadAck() : HAL::i2cReadNak());

		uint8_t isEEPROM = (deviceID & 0B00001000) >> 3;
		uint8_t channel = (deviceID & 0B00110000) >> 4;
		if (isEEPROM == 1) {
			_intVrefEp[channel] = (hiByte & 0B10000000) >> 7;
			_gainEp[channel] = (hiByte & 0B00010000) >> 4;
			_powerDownEp[channel] = (hiByte & 0B01100000) >> 5;
			_valuesEp[channel] = word((hiByte & 0B00001111), loByte);
		}
		else {
			_intVref[channel] = (hiByte & 0B10000000) >> 7;
			_gain[channel] = (hiByte & 0B00010000) >> 4;
			_powerDown[channel] = (hiByte & 0B01100000) >> 5;
			dac_motor_current[channel] = word((hiByte & 0B00001111), loByte);
		}
	}

	HAL::i2cStop();
}

void dacAnalogUpdate(bool saveEEPROM = false) {
	uint8_t dac_write_cmd = MCP4728_CMD_SEQ_WRITE;

	HAL::i2cStartWait(MCP4728_I2C_ADDRESS + I2C_WRITE);
	if (saveEEPROM) HAL::i2cWrite(dac_write_cmd);

	for (int i = 0; i < MCP4728_NUM_CHANNELS; i++) {
		uint16_t level = dac_motor_current[i];

		uint8_t highbyte = (_intVref[i] << 7 | _gain[i] << 4 | (uint8_t)((level) >> 8));
		uint8_t lowbyte = ((uint8_t)((level) & 0xff));
		dac_write_cmd = MCP4728_CMD_MULTI_WRITE | (i << 1);

		if (!saveEEPROM) HAL::i2cWrite(dac_write_cmd);
		HAL::i2cWrite(highbyte);
		HAL::i2cWrite(lowbyte);
	}

	HAL::i2cStop();

	// Instruct the MCP4728 to reflect our updated value(s) on its DAC Outputs
	dacSimpleCommand((uint8_t)MCP4728_CMD_GC_UPDATE); // MCP4728 General Command Software Update (Update all DAC Outputs to reflect settings)

	// if (saveEEPROM) dacReadStatus(); // Not necessary, just a read-back sanity check.
}

void dacCommitEeprom() {
	dacAnalogUpdate(true);
	dacReadStatus(); // Refresh EEPROM Values with values actually stored in EEPROM. .
}

void dacPrintSet(int dacChannelSettings[], const char* dacChannelPrefixes[]) {
	for (int i = 0; i < MCP4728_NUM_CHANNELS; i++) {
		uint8_t dac_channel = dac_stepper_channel[i]; // DAC Channel is a mapped lookup.
		Com::printF(dacChannelPrefixes[i], ((float)dacChannelSettings[dac_channel] * 100 / MCP4728_VOUT_MAX));
		Com::printF(Com::tSpaceRaw);
		Com::printFLN(Com::tColon, dacChannelSettings[dac_channel]);
	}
}

void dacPrintValues() {
	const char* dacChannelPrefixes[] = { Com::tSpaceXColon, Com::tSpaceYColon, Com::tSpaceZColon, Com::tSpaceEColon };

	Com::printFLN(Com::tMCPEpromSettings);
	dacPrintSet(_valuesEp, dacChannelPrefixes); // Once for the EEPROM set

	Com::printFLN(Com::tMCPCurrentSettings);
	dacPrintSet(dac_motor_current, dacChannelPrefixes); // And another for the RUNTIME set
}

void setMotorCurrent(uint8_t xyz_channel, uint16_t level) {
	if (xyz_channel >= MCP4728_NUM_CHANNELS) return;
	uint8_t stepper_channel = dac_stepper_channel[xyz_channel];
	dac_motor_current[stepper_channel] = level < MCP4728_VOUT_MAX ? level : MCP4728_VOUT_MAX;
	dacAnalogUpdate();
}

void setMotorCurrentPercent(uint8_t channel, float level) {
	uint16_t raw_level = (level * MCP4728_VOUT_MAX / 100);
	setMotorCurrent(channel, raw_level);
}

void motorCurrentControlInit() { //Initialize MCP4728 Motor Current
	HAL::i2cInit(400000); // Initialize the i2c bus.
	dacSimpleCommand((uint8_t)MCP4728_CMD_GC_RESET); // MCP4728 General Command Reset
	dacReadStatus(); // Load Values from EEPROM.

	for (int i = 0; i < MCP4728_NUM_CHANNELS; i++) {
		setMotorCurrent(dac_stepper_channel[i], _valuesEp[i]); // This is not strictly necessary, but serves as a good sanity check to ensure we're all on the same page.
	}
}
#endif

#if defined(X_MS1_PIN) && X_MS1_PIN > -1
void microstepMS(uint8_t driver, int8_t ms1, int8_t ms2) {
	if (ms1 > -1) switch (driver) {
	case 0:
#if X_MS1_PIN > -1
		WRITE(X_MS1_PIN, ms1);
#endif
		break;
	case 1:
#if Y_MS1_PIN > -1
		WRITE(Y_MS1_PIN, ms1);
#endif
		break;
	case 2:
#if Z_MS1_PIN > -1
		WRITE(Z_MS1_PIN, ms1);
#endif
		break;
	case 3:
#if E0_MS1_PIN > -1
		WRITE(E0_MS1_PIN, ms1);
#endif
		break;
	case 4:
#if E1_MS1_PIN > -1
		WRITE(E1_MS1_PIN, ms1);
#endif
		break;
	}
	if (ms2 > -1) switch (driver) {
	case 0:
#if X_MS2_PIN > -1
		WRITE(X_MS2_PIN, ms2);
#endif
		break;
	case 1:
#if Y_MS2_PIN > -1
		WRITE(Y_MS2_PIN, ms2);
#endif
		break;
	case 2:
#if Z_MS2_PIN > -1
		WRITE(Z_MS2_PIN, ms2);
#endif
		break;
	case 3:
#if E0_MS2_PIN > -1
		WRITE(E0_MS2_PIN, ms2);
#endif
		break;
	case 4:
#if E1_MS2_PIN > -1
		WRITE(E1_MS2_PIN, ms2);
#endif
		break;
	}
}

void microstepMode(uint8_t driver, uint8_t stepping_mode) {
	switch (stepping_mode) {
	case 1:
		microstepMS(driver, MICROSTEP1);
		break;
	case 2:
		microstepMS(driver, MICROSTEP2);
		break;
	case 4:
		microstepMS(driver, MICROSTEP4);
		break;
	case 8:
		microstepMS(driver, MICROSTEP8);
		break;
	case 16:
		microstepMS(driver, MICROSTEP16);
		break;
	case 32:
		microstepMS(driver, MICROSTEP32);
		break;
	}
}

void microstepReadings() {
	Com::printFLN(Com::tMS1MS2Pins);
#if X_MS1_PIN > -1 && X_MS2_PIN > -1
	Com::printF(Com::tXColon, READ(X_MS1_PIN));
	Com::printFLN(Com::tComma, READ(X_MS2_PIN));
#elif X_MS1_PIN > -1
	Com::printFLN(Com::tXColon, READ(X_MS1_PIN));
#endif
#if Y_MS1_PIN > -1 && Y_MS2_PIN > -1
	Com::printF(Com::tYColon, READ(Y_MS1_PIN));
	Com::printFLN(Com::tComma, READ(Y_MS2_PIN));
#elif Y_MS1_PIN > -1
	Com::printFLN(Com::tYColon, READ(Y_MS1_PIN));
#endif
#if Z_MS1_PIN > -1 && Z_MS2_PIN > -1
	Com::printF(Com::tZColon, READ(Z_MS1_PIN));
	Com::printFLN(Com::tComma, READ(Z_MS2_PIN));
#elif Z_MS1_PIN > -1
	Com::printFLN(Com::tZColon, READ(Z_MS1_PIN));
#endif
#if E0_MS1_PIN > -1 && E0_MS2_PIN > -1
	Com::printF(Com::tE0Colon, READ(E0_MS1_PIN));
	Com::printFLN(Com::tComma, READ(E0_MS2_PIN));
#elif E0_MS1_PIN > -1
	Com::printFLN(Com::tE0Colon, READ(E0_MS1_PIN));
#endif
#if E1_MS1_PIN > -1 && E1_MS2_PIN > -1
	Com::printF(Com::tE1Colon, READ(E1_MS1_PIN));
	Com::printFLN(Com::tComma, READ(E1_MS2_PIN));
#elif E1_MS1_PIN > -1
	Com::printFLN(Com::tE1Colon, READ(E1_MS1_PIN));
#endif
}
#endif

void microstepInit() {
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
	const uint8_t microstep_modes[] = MICROSTEP_MODES;
#if X_MS1_PIN > -1
	SET_OUTPUT(X_MS1_PIN);
#endif
#if Y_MS1_PIN > -1
	SET_OUTPUT(Y_MS1_PIN);
#endif
#if Z_MS1_PIN > -1
	SET_OUTPUT(Z_MS1_PIN);
#endif
#if E0_MS1_PIN > -1
	SET_OUTPUT(E0_MS1_PIN);
#endif
#if E1_MS1_PIN > -1
	SET_OUTPUT(E1_MS1_PIN);
#endif
#if X_MS2_PIN > -1
	SET_OUTPUT(X_MS2_PIN);
#endif
#if Y_MS2_PIN > -1
	SET_OUTPUT(Y_MS2_PIN);
#endif
#if Z_MS2_PIN > -1
	SET_OUTPUT(Z_MS2_PIN);
#endif
#if E0_MS2_PIN > -1
	SET_OUTPUT(E0_MS2_PIN);
#endif
#if E1_MS2_PIN > -1
	SET_OUTPUT(E1_MS2_PIN);
#endif
	for (int i = 0; i <= 4; i++) microstepMode(i, microstep_modes[i]);
#endif
}

/**
\brief Execute the Arc command stored in com.
*/
#if ARC_SUPPORT
void Commands::processArc(GCode *com) {
	float position[Z_AXIS_ARRAY];
	Printer::realPosition(position[X_AXIS], position[Y_AXIS], position[Z_AXIS]);
	if (!Printer::setDestinationStepsFromGCode(com)) return; // For X Y Z E F
	float offset[2] = { Printer::convertToMM(com->hasI() ? com->I : 0),Printer::convertToMM(com->hasJ() ? com->J : 0) };
	float target[E_AXIS_ARRAY] = { Printer::realXPosition(),Printer::realYPosition(),Printer::realZPosition(),Printer::destinationSteps[E_AXIS] * Printer::invAxisStepsPerMM[E_AXIS] };
	float r;
	if (com->hasR()) {
		/*
		We need to calculate the center of the circle that has the designated radius and passes
		through both the current position and the target position. This method calculates the following
		set of equations where [x,y] is the vector from current to target position, d == magnitude of
		that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
		the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the
		length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point
		[i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.

		d^2 == x^2 + y^2
		h^2 == r^2 - (d/2)^2
		i == x/2 - y/d*h
		j == y/2 + x/d*h

		O <- [i,j]
		-  |
		r      -     |
		-        |
		-           | h
		-              |
		[0,0] ->  C -----------------+--------------- T  <- [x,y]
		| <------ d/2 ---->|

		C - Current position
		T - Target position
		O - center of circle that pass through both C and T
		d - distance from C to T
		r - designated radius
		h - distance from center of CT to O

		Expanding the equations:

		d -> sqrt(x^2 + y^2)
		h -> sqrt(4 * r^2 - x^2 - y^2)/2
		i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
		j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2

		Which can be written:

		i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
		j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2

		Which we for size and speed reasons optimize to:

		h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
		i = (x - (y * h_x2_div_d))/2
		j = (y + (x * h_x2_div_d))/2

		*/
		r = Printer::convertToMM(com->R);
		// Calculate the change in position along each selected axis
		double x = target[X_AXIS] - position[X_AXIS];
		double y = target[Y_AXIS] - position[Y_AXIS];

		double h_x2_div_d = -sqrt(4 * r*r - x*x - y*y) / hypot(x, y); // == -(h * 2 / d)
		// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
		// real CNC, and thus - for practical reasons - we will terminate promptly:
		if (isnan(h_x2_div_d)) {
			Com::printErrorFLN(Com::tInvalidArc);
			return;
		}
		// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
		if (com->G == 3) {
			h_x2_div_d = -h_x2_div_d;
		}

		/* The counter clockwise circle lies to the left of the target direction. When offset is positive,
		the left hand circle will be generated - when it is negative the right hand circle is generated.

		T  <-- Target position

		^
		Clockwise circles with this center         |          Clockwise circles with this center will have
		will have > 180 deg of angular travel      |          < 180 deg of angular travel, which is a good thing!
		\         |          /
		center of arc when h_x2_div_d is positive ->  x <----- | -----> x <- center of arc when h_x2_div_d is negative
		|
		|

		C  <-- Current position                                 */

		// Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!),
		// even though it is advised against ever generating such circles in a single line of g-code. By
		// inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
		// travel and thus we get the unadvisably long arcs as prescribed.
		if (r < 0) {
			h_x2_div_d = -h_x2_div_d;
			r = -r; // Finished with r. Set to positive for mc_arc
		}
		// Complete the operation by calculating the actual center of the arc
		offset[0] = 0.5 * (x - (y * h_x2_div_d));
		offset[1] = 0.5 * (y + (x * h_x2_div_d));
	}
	else { // Offset mode specific computations
		r = hypot(offset[0], offset[1]); // Compute arc radius for arc
	}
	// Set clockwise/counter-clockwise sign for arc computations
	uint8_t isclockwise = com->G == 2;
	// Trace the arc
	PrintLine::arc(position, target, offset, r, isclockwise);
}
#endif
extern bool runBedLeveling(GCode *com);
/**
\brief Execute the G command stored in com.
*/
void Commands::processGCode(GCode *com) {
	uint32_t codenum; //throw away variable
	switch (com->G) {
	case 0: // G0 -> G1
	case 1: // G1
#if defined(SUPPORT_LASER) && SUPPORT_LASER
	{
		// disable laser for G0 moves
		bool laserOn = LaserDriver::laserOn;
		if (com->G == 0 && Printer::mode == PRINTER_MODE_LASER) {
			LaserDriver::laserOn = false;
		}
#endif // defined
		if (com->hasS()) Printer::setNoDestinationCheck(com->S != 0);
		if (Printer::setDestinationStepsFromGCode(com)) // For X Y Z E F
#if NONLINEAR_SYSTEM
			if (!PrintLine::queueNonlinearMove(ALWAYS_CHECK_ENDSTOPS, true, true)) {
				Com::printWarningFLN(PSTR("executeGCode / queueDeltaMove returns error"));
			}
#else
			PrintLine::queueCartesianMove(ALWAYS_CHECK_ENDSTOPS, true);
#endif
#if UI_HAS_KEYS
		// ui can only execute motion commands if we are not waiting inside a move for an
		// old move to finish. For normal response times, we always leave one free after
		// sending a line. Drawback: 1 buffer line less for limited time. Since input cache
		// gets filled while waiting, the lost is neglectible.
		PrintLine::waitForXFreeLines(1, true);
#endif // UI_HAS_KEYS
#ifdef DEBUG_QUEUE_MOVE
		{
			InterruptProtectedBlock noInts;
			int lc = (int)PrintLine::linesCount;
			int lp = (int)PrintLine::linesPos;
			int wp = (int)PrintLine::linesWritePos;
			int n = (wp - lp);
			if (n < 0) n += PRINTLINE_CACHE_SIZE;
			noInts.unprotect();
			if (n != lc)
				Com::printFLN(PSTR("Buffer corrupted"));
		}
#endif
#if defined(SUPPORT_LASER) && SUPPORT_LASER
		LaserDriver::laserOn = laserOn;
	}
#endif // defined
	break;
#if ARC_SUPPORT
	case 2: // CW Arc
	case 3: // CCW Arc MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
#if defined(SUPPORT_LASER) && SUPPORT_LASER
	{
		// disable laser for G0 moves
		bool laserOn = LaserDriver::laserOn;
		if (com->G == 0 && Printer::mode == PRINTER_MODE_LASER) {
			LaserDriver::laserOn = false;
		}
#endif // defined
		processArc(com);
#if defined(SUPPORT_LASER) && SUPPORT_LASER
		LaserDriver::laserOn = laserOn;
	}
#endif // defined
	break;
#endif
	case 4: // G4 dwell
		Commands::waitUntilEndOfAllMoves();
		codenum = 0;
		if (com->hasP()) codenum = com->P; // milliseconds to wait
		if (com->hasS()) codenum = com->S * 1000; // seconds to wait
		codenum += HAL::timeInMilliseconds();  // keep track of when we started waiting
		while ((uint32_t)(codenum - HAL::timeInMilliseconds()) < 2000000000) {
			GCode::readFromSerial();
			Commands::checkForPeriodicalActions(true);
		}
		break;
#if FEATURE_RETRACTION && NUM_EXTRUDER > 0
	case 10: // G10 S<1 = long retract, 0 = short retract = default> retracts filament accoridng to stored setting
#if NUM_EXTRUDER > 1
		Extruder::current->retract(true, com->hasS() && com->S > 0);
#else
		Extruder::current->retract(true, false);
#endif
		break;
	case 11: // G11 S<1 = long retract, 0 = short retract = default> = Undo retraction according to stored setting
#if NUM_EXTRUDER > 1
		Extruder::current->retract(false, com->hasS() && com->S > 0);
#else
		Extruder::current->retract(false, false);
#endif
		break;
#endif // FEATURE_RETRACTION
	case 20: // G20 Units to inches
		Printer::unitIsInches = 1;
		break;
	case 21: // G21 Units to mm
		Printer::unitIsInches = 0;
		break;
	case 28: { //G28 Home all Axis one at a time
#if defined(SUPPORT_LASER) && SUPPORT_LASER
		bool oldLaser = LaserDriver::laserOn;
		LaserDriver::laserOn = false;
#endif
		uint8_t homeAllAxis = (com->hasNoXYZ() && !com->hasE());
		if (com->hasE())
			Printer::currentPositionSteps[E_AXIS] = 0;
		if (homeAllAxis || !com->hasNoXYZ())
			Printer::homeAxis(homeAllAxis || com->hasX(), homeAllAxis || com->hasY(), homeAllAxis || com->hasZ());
#if defined(SUPPORT_LASER) && SUPPORT_LASER
		LaserDriver::laserOn = oldLaser;
#endif
		Printer::updateCurrentPosition();
	}
			 break;
#if FEATURE_Z_PROBE
	case 29: { // G29 3 points, build average or distortion compensation
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
		float actTemp[NUM_EXTRUDER];
		for (int i = 0; i < NUM_EXTRUDER; i++)
			actTemp[i] = extruder[i].tempControl.targetTemperatureC;
		Printer::moveToReal(IGNORE_COORDINATE, IGNORE_COORDINATE, RMath::max(EEPROM::zProbeHeight(), static_cast<float>(ZHOME_HEAT_HEIGHT)), IGNORE_COORDINATE, Printer::homingFeedrate[Z_AXIS]);
		Commands::waitUntilEndOfAllMoves();
#if ZHOME_HEAT_ALL
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, false);
		}
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			if (extruder[i].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
				Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, true);
		}
#else
		if (extruder[Extruder::current->id].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), Extruder::current->id, false, true);
#endif
#endif
		bool ok = true;
		Printer::startProbing(true);
		bool oldAutolevel = Printer::isAutolevelActive();
		Printer::setAutolevelActive(false);
		float sum = 0, last, oldFeedrate = Printer::feedrate;
		Printer::moveTo(EEPROM::zProbeX1(), EEPROM::zProbeY1(), IGNORE_COORDINATE, IGNORE_COORDINATE, EEPROM::zProbeXYSpeed());
		sum = Printer::runZProbe(true, false, Z_PROBE_REPETITIONS, false);
		if (sum == ILLEGAL_Z_PROBE) ok = false;
		if (ok) {
			Printer::moveTo(EEPROM::zProbeX2(), EEPROM::zProbeY2(), IGNORE_COORDINATE, IGNORE_COORDINATE, EEPROM::zProbeXYSpeed());
			last = Printer::runZProbe(false, false);
			if (last == ILLEGAL_Z_PROBE) ok = false;
			sum += last;
		}
		if (ok) {
			Printer::moveTo(EEPROM::zProbeX3(), EEPROM::zProbeY3(), IGNORE_COORDINATE, IGNORE_COORDINATE, EEPROM::zProbeXYSpeed());
			last = Printer::runZProbe(false, true);
			if (last == ILLEGAL_Z_PROBE) ok = false;
			sum += last;
		}
		if (ok) {
			sum *= 0.33333333333333;
			Com::printFLN(Com::tZProbeAverage, sum);
			if (com->hasS() && com->S) {
#if MAX_HARDWARE_ENDSTOP_Z
#if DRIVE_SYSTEM == DELTA
				Printer::updateCurrentPosition();
				Printer::zLength += sum - Printer::currentPosition[Z_AXIS];
				Printer::updateDerivedParameter();
				Printer::homeAxis(true, true, true);
#else
				Printer::currentPositionSteps[Z_AXIS] = sum * Printer::axisStepsPerMM[Z_AXIS];
				float zup = Printer::runZMaxProbe();
				if (zup == ILLEGAL_Z_PROBE) {
					ok = false;
				}
				else
					Printer::zLength = zup + sum - ENDSTOP_Z_BACK_ON_HOME;
#endif // DELTA
				Com::printInfoFLN(Com::tZProbeZReset);
				Com::printFLN(Com::tZProbePrinterHeight, Printer::zLength);
#else
				Printer::currentPositionSteps[Z_AXIS] = sum * Printer::axisStepsPerMM[Z_AXIS];
				Com::printFLN(PSTR("Adjusted z origin"));
#endif // max z endstop
			}
			Printer::feedrate = oldFeedrate;
			Printer::setAutolevelActive(oldAutolevel);
			if (ok && com->hasS() && com->S == 2)
				EEPROM::storeDataIntoEEPROM();
		}
		Printer::updateCurrentPosition(true);
		printCurrentPosition(PSTR("G29 "));
		Printer::finishProbing();
		Printer::feedrate = oldFeedrate;
		if (!ok) {
			GCode::fatalError(PSTR("G29 leveling failed!"));
			break;
		}
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
#if ZHOME_HEAT_ALL
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, false);
		}
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			if (extruder[i].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
				Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, true);
		}
#else
		if (extruder[Extruder::current->id].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), Extruder::current->id, false, true);
#endif
#endif
	}
			 break;
	case 30:
	{ // G30 single probe set Z0
		uint8_t p = (com->hasP() ? (uint8_t)com->P : 3);
		if (Printer::runZProbe(p & 1, p & 2) == ILLEGAL_Z_PROBE) {
			GCode::fatalError(PSTR("G29 leveling failed!"));
			break;
		}
		Printer::updateCurrentPosition(p & 1);
	}
	break;
	case 31:  // G31 display hall sensor output
		Endstops::update();
		Endstops::update();
		Com::printF(Com::tZProbeState);
		Com::printF(Endstops::zProbe() ? Com::tHSpace : Com::tLSpace);
		Com::println();
		break;
#if FEATURE_AUTOLEVEL
	case 32: // G32 Auto-Bed leveling
	{
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
		float actTemp[NUM_EXTRUDER];
		for (int i = 0; i < NUM_EXTRUDER; i++)
			actTemp[i] = extruder[i].tempControl.targetTemperatureC;
		Printer::moveToReal(IGNORE_COORDINATE, IGNORE_COORDINATE, RMath::max(EEPROM::zProbeHeight(), static_cast<float>(ZHOME_HEAT_HEIGHT)), IGNORE_COORDINATE, Printer::homingFeedrate[Z_AXIS]);
		Commands::waitUntilEndOfAllMoves();
#if ZHOME_HEAT_ALL
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, false);
		}
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			if (extruder[i].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
				Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, true);
		}
#else
		if (extruder[Extruder::current->id].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), Extruder::current->id, false, true);
#endif
#endif
		if (!runBedLeveling(com)) {
			GCode::fatalError(PSTR("G32 leveling failed!"));
			break;
		}
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
#if ZHOME_HEAT_ALL
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, false);
		}
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			if (extruder[i].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
				Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, true);
		}
#else
		if (extruder[Extruder::current->id].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), Extruder::current->id, false, true);
#endif
#endif
	}
	break;
#endif
#if DISTORTION_CORRECTION
	case 33: {
		if (com->hasL()) { // G33 L0 - List distortion matrix
			Printer::distortion.showMatrix();
		}
		else if (com->hasR()) { // G33 R0 - Reset distortion matrix
			Printer::distortion.resetCorrection();
		}
		else if (com->hasX() || com->hasY() || com->hasZ()) { // G33 X<xpos> Y<ypos> Z<zCorrection> - Set correction for nearest point
			if (com->hasX() && com->hasY() && com->hasZ()) {
				Printer::distortion.set(com->X, com->Y, com->Z);
			}
			else {
				Com::printErrorFLN(PSTR("You need to define X, Y and Z to set a point!"));
			}
		}
		else { // G33
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
			float actTemp[NUM_EXTRUDER];
			for (int i = 0; i < NUM_EXTRUDER; i++)
				actTemp[i] = extruder[i].tempControl.targetTemperatureC;
			Printer::moveToReal(IGNORE_COORDINATE, IGNORE_COORDINATE, RMath::max(EEPROM::zProbeHeight(), static_cast<float>(ZHOME_HEAT_HEIGHT)), IGNORE_COORDINATE, Printer::homingFeedrate[Z_AXIS]);
			Commands::waitUntilEndOfAllMoves();
#if ZHOME_HEAT_ALL
			for (int i = 0; i < NUM_EXTRUDER; i++) {
				Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, false);
			}
			for (int i = 0; i < NUM_EXTRUDER; i++) {
				if (extruder[i].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
					Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, true);
			}
#else
			if (extruder[Extruder::current->id].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
				Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), Extruder::current->id, false, true);
#endif
#endif
			float oldFeedrate = Printer::feedrate;
			if (!Printer::measureDistortion()) {
				GCode::fatalError(PSTR("G33 failed!"));
				break;
			}
			Printer::feedrate = oldFeedrate;
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
#if ZHOME_HEAT_ALL
			for (int i = 0; i < NUM_EXTRUDER; i++)
				Extruder::setTemperatureForExtruder(actTemp[i], i, false, false);
			for (int i = 0; i < NUM_EXTRUDER; i++)
				Extruder::setTemperatureForExtruder(actTemp[i], i, false, actTemp[i] > MAX_ROOM_TEMPERATURE);
#else
			Extruder::setTemperatureForExtruder(actTemp[Extruder::current->id], Extruder::current->id, false, actTemp[Extruder::current->id] > MAX_ROOM_TEMPERATURE);
#endif
#endif
		}
	}
			 break;
#endif
#endif
	case 90: // G90
		Printer::relativeCoordinateMode = false;
		if (com->internalCommand)
			Com::printInfoFLN(PSTR("Absolute positioning"));
		break;
	case 91: // G91
		Printer::relativeCoordinateMode = true;
		if (com->internalCommand)
			Com::printInfoFLN(PSTR("Relative positioning"));
		break;
	case 92: { // G92
		float xOff = Printer::coordinateOffset[X_AXIS];
		float yOff = Printer::coordinateOffset[Y_AXIS];
		float zOff = Printer::coordinateOffset[Z_AXIS];
		if (com->hasX()) xOff = Printer::convertToMM(com->X) - Printer::currentPosition[X_AXIS];
		if (com->hasY()) yOff = Printer::convertToMM(com->Y) - Printer::currentPosition[Y_AXIS];
		if (com->hasZ()) zOff = Printer::convertToMM(com->Z) - Printer::currentPosition[Z_AXIS];
		Printer::setOrigin(xOff, yOff, zOff);
		if (com->hasE()) {
			Printer::currentPositionSteps[E_AXIS] = Printer::convertToMM(com->E) * Printer::axisStepsPerMM[E_AXIS];
		}
	}
			 break;
#if DRIVE_SYSTEM == DELTA
	case 100: { // G100 Calibrate floor or rod radius
			// Using manual control, adjust hot end to contact floor.
			// G100 <no arguments> No action. Avoid accidental floor reset.
			// G100 [X] [Y] [Z] set floor for argument passed in. Number ignored and may be absent.
			// G100 R with X Y or Z flag error, sets only floor or radius, not both.
			// G100 R[n] Add n to radius. Adjust to be above floor if necessary
			// G100 R[0] set radius based on current z measurement. Moves to (0,0,0)
		float currentZmm = Printer::currentPosition[Z_AXIS];
		if (currentZmm / Printer::zLength > 0.1) {
			Com::printErrorFLN(PSTR("Calibration code is limited to bottom 10% of Z height"));
			break;
		}
		if (com->hasR()) {
			if (com->hasX() || com->hasY() || com->hasZ())
				Com::printErrorFLN(PSTR("Cannot set radius and floor at same time."));
			else if (com->R != 0) {
				//add r to radius
				if (abs(com->R) <= 10) EEPROM::incrementRodRadius(com->R);
				else Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
			}
			else {
				// auto set radius. Head must be at 0,0 and touching
				// Z offset will be corrected for.
				if (Printer::currentPosition[X_AXIS] == 0
					&& Printer::currentPosition[Y_AXIS] == 0) {
					if (Printer::isLargeMachine()) {
						// calculate radius assuming we are at surface
						// If Z is greater than 0 it will get calculated out for correct radius
						// Use either A or B tower as they acnhor x cartesian axis and always have
						// Radius distance to center in simplest set up.
						float h = Printer::deltaDiagonalStepsSquaredB.f;
						unsigned long bSteps = Printer::currentNonlinearPositionSteps[B_TOWER];
						// The correct Rod Radius would put us here at z==0 and B height is
						// square root (rod length squared minus rod radius squared)
						// Reverse that to get calculated Rod Radius given B height
						h -= RMath::sqr((float)bSteps);
						h = sqrt(h);
						EEPROM::setRodRadius(h*Printer::invAxisStepsPerMM[Z_AXIS]);
					}
					else {
						// calculate radius assuming we are at surface
						// If Z is greater than 0 it will get calculated out for correct radius
						// Use either A or B tower as they acnhor x cartesian axis and always have
						// Radius distance to center in simplest set up.
						unsigned long h = Printer::deltaDiagonalStepsSquaredB.l;
						unsigned long bSteps = Printer::currentNonlinearPositionSteps[B_TOWER];
						// The correct Rod Radius would put us here at z==0 and B height is
						// square root (rod length squared minus rod radius squared)
						// Reverse that to get calculated Rod Radius given B height
						h -= RMath::sqr(bSteps);
						h = SQRT(h);
						EEPROM::setRodRadius(h*Printer::invAxisStepsPerMM[Z_AXIS]);
					}
				}
				else
					Com::printErrorFLN(PSTR("First move to touch at x,y=0,0 to auto-set radius."));
			}
		}
		else {
			bool tooBig = false;
			if (com->hasX()) {
				if (abs(com->X) <= 10)
					EEPROM::setTowerXFloor(com->X + currentZmm + Printer::xMin);
				else tooBig = true;
			}
			if (com->hasY()) {
				if (abs(com->Y) <= 10)
					EEPROM::setTowerYFloor(com->Y + currentZmm + Printer::yMin);
				else tooBig = true;
			}
			if (com->hasZ()) {
				if (abs(com->Z) <= 10)
					EEPROM::setTowerZFloor(com->Z + currentZmm + Printer::zMin);
				else tooBig = true;
			}
			if (tooBig)
				Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
		}
		// after adjusting zero, physical position is out of sync with memory position
		// this could cause jerky movement or push head into print surface.
		// moving gets back into safe zero'ed position with respect to newle set floor or Radius.
		Printer::moveTo(IGNORE_COORDINATE, IGNORE_COORDINATE, 12.0, IGNORE_COORDINATE, IGNORE_COORDINATE);
		break;
	}
	case 131: { // G131 Remove offset
		float cx, cy, cz;
		Printer::realPosition(cx, cy, cz);
		float oldfeedrate = Printer::feedrate;
		Printer::offsetX = 0;
		Printer::offsetY = 0;
		Printer::moveToReal(cx, cy, cz, IGNORE_COORDINATE, Printer::homingFeedrate[X_AXIS]);
		Printer::feedrate = oldfeedrate;
		Printer::updateCurrentPosition();
	}
			  break;
	case 132: { // G132 Calibrate endstop offsets
			// This has the probably unintended side effect of turning off leveling.
		Printer::setAutolevelActive(false); // don't let transformations change result!
		Printer::coordinateOffset[X_AXIS] = 0;
		Printer::coordinateOffset[Y_AXIS] = 0;
		Printer::coordinateOffset[Z_AXIS] = 0;
		// I think this is coded incorrectly, as it depends on the biginning position of the
		// of the hot end, and so should first move to x,y,z= 0,0,0, but as that may not
		// be possible if the printer is not in the homes/zeroed state, the printer
		// cannot safely move to 0 z coordinate without crashong into the print surface.
		// so other than commenting, I'm not meddling.
		// but you will always get different counts from different positions.
		Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
		int32_t m = RMath::max(Printer::stepsRemainingAtXHit, RMath::max(Printer::stepsRemainingAtYHit, Printer::stepsRemainingAtZHit));
		int32_t offx = m - Printer::stepsRemainingAtXHit;
		int32_t offy = m - Printer::stepsRemainingAtYHit;
		int32_t offz = m - Printer::stepsRemainingAtZHit;
		Com::printFLN(Com::tTower1, offx);
		Com::printFLN(Com::tTower2, offy);
		Com::printFLN(Com::tTower3, offz);
#if EEPROM_MODE != 0
		if (com->hasS() && com->S > 0) {
			EEPROM::setDeltaTowerXOffsetSteps(offx);
			EEPROM::setDeltaTowerYOffsetSteps(offy);
			EEPROM::setDeltaTowerZOffsetSteps(offz);
		}
#endif
		PrintLine::moveRelativeDistanceInSteps(0, 0, -5 * Printer::axisStepsPerMM[Z_AXIS], 0, Printer::homingFeedrate[Z_AXIS], true, true);
		Printer::homeAxis(true, true, true);
	}
			  break;
	case 133: { // G133 Measure steps to top
		bool oldAuto = Printer::isAutolevelActive();
		Printer::setAutolevelActive(false); // don't let transformations change result!
		Printer::currentPositionSteps[X_AXIS] = 0;
		Printer::currentPositionSteps[Y_AXIS] = 0;
		Printer::currentPositionSteps[Z_AXIS] = 0;
		Printer::coordinateOffset[X_AXIS] = 0;
		Printer::coordinateOffset[Y_AXIS] = 0;
		Printer::coordinateOffset[Z_AXIS] = 0;
		Printer::currentNonlinearPositionSteps[A_TOWER] = 0;
		Printer::currentNonlinearPositionSteps[B_TOWER] = 0;
		Printer::currentNonlinearPositionSteps[C_TOWER] = 0;
		// similar to comment above, this will get a different answer from any different starting point
		// so it is unclear how this is helpful. It must start at a well defined point.
		Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
		int32_t offx = HOME_DISTANCE_STEPS - Printer::stepsRemainingAtXHit;
		int32_t offy = HOME_DISTANCE_STEPS - Printer::stepsRemainingAtYHit;
		int32_t offz = HOME_DISTANCE_STEPS - Printer::stepsRemainingAtZHit;
		Com::printFLN(Com::tTower1, offx);
		Com::printFLN(Com::tTower2, offy);
		Com::printFLN(Com::tTower3, offz);
		Printer::setAutolevelActive(oldAuto);
		PrintLine::moveRelativeDistanceInSteps(0, 0, Printer::axisStepsPerMM[Z_AXIS] * -ENDSTOP_Z_BACK_MOVE, 0, Printer::homingFeedrate[Z_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR, true, false);
		Printer::homeAxis(true, true, true);
	}
			  break;
	case 135: // G135
		Com::printF(PSTR("CompDelta:"), Printer::currentNonlinearPositionSteps[A_TOWER]);
		Com::printF(Com::tComma, Printer::currentNonlinearPositionSteps[B_TOWER]);
		Com::printFLN(Com::tComma, Printer::currentNonlinearPositionSteps[C_TOWER]);
#ifdef DEBUG_REAL_POSITION
		Com::printF(PSTR("RealDelta:"), Printer::realDeltaPositionSteps[A_TOWER]);
		Com::printF(Com::tComma, Printer::realDeltaPositionSteps[B_TOWER]);
		Com::printFLN(Com::tComma, Printer::realDeltaPositionSteps[C_TOWER]);
#endif
		Printer::updateCurrentPosition();
		Com::printF(PSTR("PosFromSteps:"));
		printCurrentPosition(PSTR("G134 "));
		break;

#endif // DRIVE_SYSTEM
#if FEATURE_Z_PROBE && NUM_EXTRUDER > 1
	case 134:
	{ // - G134 Px Sx Zx - Calibrate nozzle height difference (need z probe in nozzle!) Px = reference extruder, Sx = only measure extrude x against reference, Zx = add to measured z distance for Sx for correction.
		float z = com->hasZ() ? com->Z : 0;
		int p = com->hasP() ? com->P : 0;
		int s = com->hasS() ? com->S : -1;
		int startExtruder = Extruder::current->id;
		extruder[p].zOffset = 0;
		float mins[NUM_EXTRUDER], maxs[NUM_EXTRUDER], avg[NUM_EXTRUDER];
		for (int i = 0; i < NUM_EXTRUDER; i++) { // silence unnecessary compiler warning
			avg[i] = 0;
		}
		bool bigError = false;

#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE
		float actTemp[NUM_EXTRUDER];
		for (int i = 0; i < NUM_EXTRUDER; i++)
			actTemp[i] = extruder[i].tempControl.targetTemperatureC;
		Printer::moveToReal(IGNORE_COORDINATE, IGNORE_COORDINATE, ZHOME_HEAT_HEIGHT, IGNORE_COORDINATE, Printer::homingFeedrate[Z_AXIS]);
		Commands::waitUntilEndOfAllMoves();
#if ZHOME_HEAT_ALL
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, false);
		}
		for (int i = 0; i < NUM_EXTRUDER; i++) {
			if (extruder[i].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
				Extruder::setTemperatureForExtruder(RMath::max(actTemp[i], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), i, false, true);
		}
#else
		if (extruder[Extruder::current->id].tempControl.currentTemperatureC < ZPROBE_MIN_TEMPERATURE)
			Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id], static_cast<float>(ZPROBE_MIN_TEMPERATURE)), Extruder::current->id, false, true);
#endif
#endif

#ifndef G134_REPETITIONS
#define G134_REPETITIONS 3
#endif
#ifndef G134_PRECISION
#define G134_PRECISION 0.05
#endif
		Printer::startProbing(true);
		for (int r = 0; r < G134_REPETITIONS && !bigError; r++) {
			Extruder::selectExtruderById(p);
			float refHeight = Printer::runZProbe(false, false);
			if (refHeight == ILLEGAL_Z_PROBE) {
				bigError = true;
				break;
			}
			for (int i = 0; i < NUM_EXTRUDER && !bigError; i++) {
				if (i == p) continue;
				if (s >= 0 && i != s) continue;
				extruder[i].zOffset = 0;
				Extruder::selectExtruderById(i);
				float height = Printer::runZProbe(false, false);
				if (height == ILLEGAL_Z_PROBE) {
					bigError = true;
					break;
				}
				float off = (height - refHeight + z);
				if (r == 0) {
					avg[i] = mins[i] = maxs[i] = off;
				}
				else {
					avg[i] += off;
					if (off < mins[i]) mins[i] = off;
					if (off > maxs[i]) maxs[i] = off;
					if (maxs[i] - mins[i] > G134_PRECISION) {
						Com::printErrorFLN(PSTR("Deviation between measurements were too big, please repeat."));
						bigError = true;
						break;
					}
				}
			}
		}
		if (!bigError) {
			for (int i = 0; i < NUM_EXTRUDER; i++) {
				if (s >= 0 && i != s) continue;
				extruder[i].zOffset = avg[i] * Printer::axisStepsPerMM[Z_AXIS] / G134_REPETITIONS;
			}
#if EEPROM_MODE != 0
			EEPROM::storeDataIntoEEPROM(0);
#endif
		}
		Extruder::selectExtruderById(startExtruder);
		Printer::finishProbing();
#if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE
#if ZHOME_HEAT_ALL
		for (int i = 0; i < NUM_EXTRUDER; i++)
			Extruder::setTemperatureForExtruder(actTemp[i], i, false, false);
		for (int i = 0; i < NUM_EXTRUDER; i++)
			Extruder::setTemperatureForExtruder(actTemp[i], i, false, actTemp[i] > MAX_ROOM_TEMPERATURE);
#else
		Extruder::setTemperatureForExtruder(actTemp[Extruder::current->id], Extruder::current->id, false, actTemp[Extruder::current->id] > MAX_ROOM_TEMPERATURE);
#endif
#endif
	}
	break;
#endif
#if defined(NUM_MOTOR_DRIVERS) && NUM_MOTOR_DRIVERS > 0
	case 201:
		commandG201(*com);
		break;
	case 202:
		commandG202(*com);
		break;
	case 203:
		commandG203(*com);
		break;
	case 204:
		commandG204(*com);
		break;
#endif // defined
	default:
		if (!EVENT_UNHANDLED_G_CODE(com) && Printer::debugErrors()) {
			Com::printF(Com::tUnknownCommand);
			com->printCommand();
		}
	}
	previousMillisCmd = HAL::timeInMilliseconds();
}
extern bool ui_version_override;
/**
\brief Execute the G command stored in com.
*/
void Commands::processMCode(GCode *com) {
	switch (com->M) {
	case 3: // Spindle/laser on
#if defined(SUPPORT_LASER) && SUPPORT_LASER
		if (Printer::mode == PRINTER_MODE_LASER) {
			if (com->hasS())
				LaserDriver::intensity = constrain(com->S, 0, 255);
			LaserDriver::laserOn = true;
			Com::printFLN(PSTR("LaserOn:"), (int)LaserDriver::intensity);
		}
#endif // defined
#if defined(SUPPORT_CNC) && SUPPORT_CNC
		if (Printer::mode == PRINTER_MODE_CNC) {
			waitUntilEndOfAllMoves();
			CNCDriver::spindleOnCW(com->hasS() ? com->S : 0);
		}
#endif // defined
		break;
	case 4: // Spindle CCW
#if defined(SUPPORT_CNC) && SUPPORT_CNC
		if (Printer::mode == PRINTER_MODE_CNC) {
			waitUntilEndOfAllMoves();
			CNCDriver::spindleOnCCW(com->hasS() ? com->S : 0);
		}
#endif // defined
		break;
	case 5: // Spindle/laser off
#if defined(SUPPORT_LASER) && SUPPORT_LASER
		if (Printer::mode == PRINTER_MODE_LASER) {
			LaserDriver::laserOn = false;
		}
#endif // defined
#if defined(SUPPORT_CNC) && SUPPORT_CNC
		if (Printer::mode == PRINTER_MODE_CNC) {
			waitUntilEndOfAllMoves();
			CNCDriver::spindleOff();
		}
#endif // defined
		break;
#if SDSUPPORT
	case 20: // M20 - list SD card
#if JSON_OUTPUT
		if (com->hasString() && com->text[1] == '2') { // " S2 P/folder"
			if (com->text[3] == 'P') {
				sd.lsJSON(com->text + 4);
			}
		}
		else sd.ls();
#else
		sd.ls();
#endif
		break;
	case 21: // M21 - init SD card
		sd.mount();
		break;
	case 22: //M22 - release SD card
		sd.unmount();
		break;
	case 23: //M23 - Select file
		if (com->hasString()) {
			sd.fat.chdir();
			sd.selectFile(com->text);
		}
		break;
	case 24: //M24 - Start SD print
		sd.startPrint();
		break;
	case 25: //M25 - Pause SD print
		sd.pausePrint();
		break;
	case 26: //M26 - Set SD index
		if (com->hasS())
			sd.setIndex(com->S);
		break;
	case 27: //M27 - Get SD status
		sd.printStatus();
		break;
	case 28: //M28 - Start SD write
		if (com->hasString())
			sd.startWrite(com->text);
		break;
	case 29: //M29 - Stop SD write
		//processed in write to file routine above
		//savetosd = false;
		break;
	case 30: // M30 filename - Delete file
		if (com->hasString()) {
			sd.fat.chdir();
			sd.deleteFile(com->text);
		}
		StopBack();
		break;
	case 32: // M32 directoryname
		if (com->hasString()) {
			sd.fat.chdir();
			sd.makeDirectory(com->text);
		}
		break;
#elif USBDISKSUPPORT
	case 20: // M20 - list USB disk
		usbdisk.ls();
		break;
	case 21: // M21 - init USB disk
		usbdisk.mount();
		break;
	case 22: //M22 - release USB disk
		usbdisk.unmount();
		break;
	case 23: //M23 - Select file
		if (com->hasString())
		{
			usbdisk.chdir();
			usbdisk.selectFile(com->text);
		}
		break;
	case 24: //M24 - Start USB disk print
		usbdisk.startPrint();
		break;
	case 25: //M25 - Pause USB disk print
		usbdisk.pausePrint();
		break;
	case 26: //M26 - Set USB disk index
		if (com->hasS())
			usbdisk.setIndex(com->S);
		break;
	case 27: //M27 - Get USB disk status
		usbdisk.printStatus();
		break;
	case 28: //M28 - Start USB disk write
		if (com->hasString())
			usbdisk.startWrite(com->text);
		break;
	case 29: //M29 - Stop USB disk write
		//processed in write to file routine above
		//savetosd = false;
		break;
	case 30: // M30 filename - Delete file
		if (com->hasString())
		{
			usbdisk.chdir();
			usbdisk.deleteFile(com->text);
		}
		break;
	case 32: // M32 directoryname
		if (com->hasString())
		{
			usbdisk.chdir();
			usbdisk.makeDirectory(com->text);
		}
		break;
#endif
#if JSON_OUTPUT && SDSUPPORT
	case 36: // M36 JSON File Info
		if (com->hasString()) {
			sd.JSONFileInfo(com->text);
		}
		break;
#endif
	case 42: //M42 -Change pin status via gcode
		if (com->hasP()) {
			int pin_number = com->P;
			for (uint8_t i = 0; i < (uint8_t)sizeof(sensitive_pins); i++) {
				if (pgm_read_byte(&sensitive_pins[i]) == pin_number) {
					pin_number = -1;
					break;
				}
			}
			if (pin_number > -1) {
				if (com->hasS()) {
					if (com->S >= 0 && com->S <= 255) {
						pinMode(pin_number, OUTPUT);
						digitalWrite(pin_number, com->S);
						analogWrite(pin_number, com->S);
						Com::printF(Com::tSetOutputSpace, pin_number);
						Com::printFLN(Com::tSpaceToSpace, (int)com->S);
					}
					else
						Com::printErrorFLN(PSTR("Illegal S value for M42"));
				}
				else {
					pinMode(pin_number, INPUT_PULLUP);
					Com::printF(Com::tSpaceToSpace, pin_number);
					Com::printFLN(Com::tSpaceIsSpace, digitalRead(pin_number));
				}
			}
			else {
				Com::printErrorFLN(PSTR("Pin can not be set by M42, is in sensitive pins! "));
			}
		}
		break;
	case 80: // M80 - ATX Power On
#if PS_ON_PIN>-1
		Commands::waitUntilEndOfAllMoves();
		previousMillisCmd = HAL::timeInMilliseconds();
		SET_OUTPUT(PS_ON_PIN); //GND
		Printer::setPowerOn(true);
		WRITE(PS_ON_PIN, (POWER_INVERTING ? HIGH : LOW));
#endif
		break;
	case 81: // M81 - ATX Power Off
#if PS_ON_PIN>-1
		Commands::waitUntilEndOfAllMoves();
		SET_OUTPUT(PS_ON_PIN); //GND
		Printer::setPowerOn(false);
		WRITE(PS_ON_PIN, (POWER_INVERTING ? LOW : HIGH));
#endif
		break;
	case 82: // M82
		Printer::relativeExtruderCoordinateMode = false;
		break;
	case 83: // M83
		Printer::relativeExtruderCoordinateMode = true;
		break;
	case 84: // M84
		if (com->hasS()) {
			stepperInactiveTime = com->S * 1000;
		}
		else {
			Commands::waitUntilEndOfAllMoves();
			Printer::kill(true);
		}
		StopBack();
		break;
	case 85: // M85
		if (com->hasS())
			maxInactiveTime = (int32_t)com->S * 1000;
		else
			maxInactiveTime = 0;
		break;
	case 92: // M92
		if (com->hasX()) Printer::axisStepsPerMM[X_AXIS] = com->X;
		if (com->hasY()) Printer::axisStepsPerMM[Y_AXIS] = com->Y;
		if (com->hasZ()) Printer::axisStepsPerMM[Z_AXIS] = com->Z;
		Printer::updateDerivedParameter();
		if (com->hasE()) {
			Extruder::current->stepsPerMM = com->E;
			Extruder::selectExtruderById(Extruder::current->id);
		}
		break;
	case 99: { // M99 S<time>
		millis_t wait = 10000;
		if (com->hasS())
			wait = 1000 * com->S;
		if (com->hasX())
			Printer::disableXStepper();
		if (com->hasY())
			Printer::disableYStepper();
		if (com->hasZ())
			Printer::disableZStepper();
		wait += HAL::timeInMilliseconds();
#ifdef DEBUG_PRINT
		debugWaitLoop = 2;
#endif
		while (wait - HAL::timeInMilliseconds() < 100000) {
			Printer::defaultLoopActions();
		}
		if (com->hasX())
			Printer::enableXStepper();
		if (com->hasY())
			Printer::enableYStepper();
		if (com->hasZ())
			Printer::enableZStepper();
	}
			 break;

	case 104: // M104 temperature
#if NUM_EXTRUDER > 0
		if (reportTempsensorError()) break;
		previousMillisCmd = HAL::timeInMilliseconds();
		if (Printer::debugDryrun()) break;
#ifdef EXACT_TEMPERATURE_TIMING
		Commands::waitUntilEndOfAllMoves();
#else
		if (com->hasP() || (com->hasS() && com->S == 0))
			Commands::waitUntilEndOfAllMoves();
#endif
		if (com->hasS()) {
			if (com->hasT() && com->T < NUM_EXTRUDER)
				Extruder::setTemperatureForExtruder(com->S, com->T, com->hasF() && com->F > 0);
			else
				Extruder::setTemperatureForExtruder(com->S, Extruder::current->id, com->hasF() && com->F > 0);
		}
#endif
		break;
	case 140: // M140 set bed temp
		if (reportTempsensorError()) break;
		previousMillisCmd = HAL::timeInMilliseconds();
		if (Printer::debugDryrun()) break;
		if (com->hasS()) Extruder::setHeatedBedTemperature(com->S, com->hasF() && com->F > 0);
		break;
	case 105: // M105  get temperature. Always returns the current temperature, doesn't wait until move stopped
		printTemperatures(com->hasX());
		break;
	case 109: // M109 - Wait for extruder heater to reach target.
#if NUM_EXTRUDER > 0
	{
		if (reportTempsensorError()) break;
		previousMillisCmd = HAL::timeInMilliseconds();
		if (Printer::debugDryrun()) break;
		Commands::waitUntilEndOfAllMoves();
		Extruder *actExtruder = Extruder::current;
		if (com->hasT() && com->T < NUM_EXTRUDER) actExtruder = &extruder[com->T];
		if (com->hasS()) Extruder::setTemperatureForExtruder(com->S, actExtruder->id, com->hasF() && com->F > 0, true);
	}
#endif
	previousMillisCmd = HAL::timeInMilliseconds();
	break;
	case 190: { // M190 - Wait bed for heater to reach target.
#if HAVE_HEATED_BED
		if (Printer::debugDryrun()) break;
		UI_STATUS_UPD_F(Com::translatedF(UI_TEXT_HEATING_BED_ID));
		Commands::waitUntilEndOfAllMoves();
#if HAVE_HEATED_BED
		if (com->hasS()) Extruder::setHeatedBedTemperature(com->S, com->hasF() && com->F > 0);
#if defined(SKIP_M190_IF_WITHIN) && SKIP_M190_IF_WITHIN > 0
		if (abs(heatedBedController.currentTemperatureC - heatedBedController.targetTemperatureC) < SKIP_M190_IF_WITHIN) break;
#endif
		EVENT_WAITING_HEATER(-1);
		uint32_t codenum; //throw away variable
		codenum = HAL::timeInMilliseconds();
		while (heatedBedController.currentTemperatureC + 0.5 < heatedBedController.targetTemperatureC && heatedBedController.targetTemperatureC > 25.0) {
			if ((HAL::timeInMilliseconds() - codenum) > 1000) { //Print Temp Reading every 1 second while heating up.
				printTemperatures();
				codenum = previousMillisCmd = HAL::timeInMilliseconds();
			}
			Commands::checkForPeriodicalActions(true);
		}
#endif
		EVENT_HEATING_FINISHED(-1);
#endif
		UI_CLEAR_STATUS;
		previousMillisCmd = HAL::timeInMilliseconds();
	}
			  break;
#if NUM_TEMPERATURE_LOOPS > 0
	case 116: // Wait for temperatures to reach target temperature
		for (fast8_t h = 0; h <= HEATED_BED_INDEX; h++) {
			EVENT_WAITING_HEATER(h < NUM_EXTRUDER ? h : -1);
			tempController[h]->waitForTargetTemperature();
			EVENT_HEATING_FINISHED(h < NUM_EXTRUDER ? h : -1);
		}
		break;
#endif
#if FAN_PIN > -1 && FEATURE_FAN_CONTROL
	case 106: // M106 Fan On
		if (!(Printer::flag2 & PRINTER_FLAG2_IGNORE_M106_COMMAND)) {
			if (com->hasP() && com->P == 1)
				setFan2Speed(com->hasS() ? com->S : 255);
			else
				setFanSpeed(com->hasS() ? com->S : 255);
		}
		break;
	case 107: // M107 Fan Off
		if (com->hasP() && com->P == 1)
			setFan2Speed(0);
		else
			setFanSpeed(0);
		break;
#endif
	case 111: // M111 enable/disable run time debug flags
		if (com->hasS()) Printer::setDebugLevel(static_cast<uint8_t>(com->S));
		if (com->hasP()) {
			if (com->P > 0) Printer::debugSet(static_cast<uint8_t>(com->P));
			else Printer::debugReset(static_cast<uint8_t>(-com->P));
		}
		if (Printer::debugDryrun()) { // simulate movements without printing
#if NUM_EXTRUDER > 1
			for (uint8_t i = 0; i < NUM_EXTRUDER; i++)
				Extruder::setTemperatureForExtruder(0, i);
#else
			Extruder::setTemperatureForExtruder(0, 0);
#endif
#if HAVE_HEATED_BED != 0
			Extruder::setHeatedBedTemperature(0, false);
#endif
		}
		break;
	case 115: // M115
		Com::printFLN(Com::tFirmware);
		reportPrinterUsage();
		Printer::reportPrinterMode();
		break;
	case 114: // M114
		printCurrentPosition(PSTR("M114 "));
		break;
	case 117: // M117 message to lcd
		if (com->hasString()) {
			UI_STATUS_UPD_RAM(com->text);
		}
		break;
	case 119: // M119
		Commands::waitUntilEndOfAllMoves();
		Endstops::update();
		Endstops::update(); // double test to get right signal. Needed for crosstalk protection.
		Endstops::report();
		break;
#if BEEPER_TYPE>0
	case 120: // M120 Test beeper function
		if (com->hasS() && com->hasP())
			beep(com->S, com->P); // Beep test
		break;
#endif
#if MIXING_EXTRUDER > 0
	case 163: // M163 S<extruderNum> P<weight>  - Set weight for this mixing extruder drive
		if (com->hasS() && com->hasP() && com->S < NUM_EXTRUDER && com->S >= 0)
			Extruder::setMixingWeight(com->S, com->P);
		Extruder::recomputeMixingExtruderSteps();
		break;
	case 164: /// M164 S<virtNum> P<0 = dont store eeprom,1 = store to eeprom> - Store weights as virtual extruder S
		if (!com->hasS() || com->S < 0 || com->S >= VIRTUAL_EXTRUDER) break; // ignore illigal values
		for (uint8_t i = 0; i < NUM_EXTRUDER; i++) {
			extruder[i].virtualWeights[com->S] = extruder[i].mixingW;
		}
#if EEPROM_MODE != 0
		if (com->hasP() && com->P != 0)  // store permanently to eeprom
			EEPROM::storeMixingRatios();
#endif
		break;
#endif // MIXING_EXTRUDER
	case 200: { // M200 T<extruder> D<diameter>
		uint8_t extruderId = Extruder::current->id;
		if (com->hasT() && com->T < NUM_EXTRUDER)
			extruderId = com->T;
		float d = 0;
		if (com->hasR())
			d = com->R;
		if (com->hasD())
			d = com->D;
		extruder[extruderId].diameter = d;
		if (extruderId == Extruder::current->id)
			changeFlowrateMultiply(Printer::extrudeMultiply);
		if (d == 0) {
			Com::printFLN(PSTR("Disabled volumetric extrusion for extruder "), static_cast<int>(extruderId));
		}
		else {
			Com::printF(PSTR("Set volumetric extrusion for extruder "), static_cast<int>(extruderId));
			Com::printFLN(PSTR(" to "), d);
		}
	}
			  break;
#if RAMP_ACCELERATION
	case 201: // M201
		if (com->hasX()) Printer::maxAccelerationMMPerSquareSecond[X_AXIS] = com->X;
		if (com->hasY()) Printer::maxAccelerationMMPerSquareSecond[Y_AXIS] = com->Y;
		if (com->hasZ()) Printer::maxAccelerationMMPerSquareSecond[Z_AXIS] = com->Z;
		if (com->hasE()) Printer::maxAccelerationMMPerSquareSecond[E_AXIS] = com->E;
		Printer::updateDerivedParameter();
		break;
	case 202: // M202
		if (com->hasX()) Printer::maxTravelAccelerationMMPerSquareSecond[X_AXIS] = com->X;
		if (com->hasY()) Printer::maxTravelAccelerationMMPerSquareSecond[Y_AXIS] = com->Y;
		if (com->hasZ()) Printer::maxTravelAccelerationMMPerSquareSecond[Z_AXIS] = com->Z;
		if (com->hasE()) Printer::maxTravelAccelerationMMPerSquareSecond[E_AXIS] = com->E;
		Printer::updateDerivedParameter();
		break;
#endif
	case 203: // M203 Temperature monitor
		if (com->hasS())
			manageMonitor = com->S != 255;
		else
			manageMonitor = 0;
		break;
	case 204: { // M204
		TemperatureController *temp = &Extruder::current->tempControl;
		if (com->hasS()) {
			if (com->S < 0) break;
			if (com->S < NUM_EXTRUDER) temp = &extruder[com->S].tempControl;
#if HAVE_HEATED_BED
			else temp = &heatedBedController;
#else
			else break;
#endif
		}
		if (com->hasX()) temp->pidPGain = com->X;
		if (com->hasY()) temp->pidIGain = com->Y;
		if (com->hasZ()) temp->pidDGain = com->Z;
		temp->updateTempControlVars();
	}
			  break;
	case 205: // M205 Show EEPROM settings
		EEPROM::writeSettings();
		break;
	case 206: // M206 T[type] P[pos] [Sint(long] [Xfloat]  Set eeprom value
		EEPROM::update(com);
		break;
	case 207: // M207 X<XY jerk> Z<Z Jerk>
		if (com->hasX())
			Printer::maxJerk = com->X;
		if (com->hasE()) {
			Extruder::current->maxStartFeedrate = com->E;
			Extruder::selectExtruderById(Extruder::current->id);
		}
#if DRIVE_SYSTEM != DELTA
		if (com->hasZ())
			Printer::maxZJerk = com->Z;
		Com::printF(Com::tJerkColon, Printer::maxJerk);
		Com::printFLN(Com::tZJerkColon, Printer::maxZJerk);
#else
		Com::printFLN(Com::tJerkColon, Printer::maxJerk);
#endif
		break;
	case 209: // M209 S<0/1> Enable/disable autoretraction
		if (com->hasS())
			Printer::setAutoretract(com->S != 0);
		break;
	case 220: // M220 S<Feedrate multiplier in percent>
		changeFeedrateMultiply(com->getS(100));
		break;
	case 221: // M221 S<Extrusion flow multiplier in percent>
		changeFlowrateMultiply(com->getS(100));
		break;
	case 226: // M226 P<pin> S<state 0/1> - Wait for pin getting state S
		if (!com->hasS() || !com->hasP())
			break;
		{
			bool comp = com->S;
			if (com->hasX()) {
				if (com->X == 0)
					HAL::pinMode(com->S, INPUT);
				else
					HAL::pinMode(com->S, INPUT_PULLUP);
			}
			do {
				Commands::checkForPeriodicalActions(true);
			} while (HAL::digitalRead(com->P) != comp);
		}
		break;
#if USE_ADVANCE
	case 223: // M223 Extruder interrupt test
		if (com->hasS()) {
			InterruptProtectedBlock noInts;
			Printer::extruderStepsNeeded += com->S;
		}
		break;
	case 232: // M232
		Com::printF(Com::tLinearStepsColon, maxadv2);
#if ENABLE_QUADRATIC_ADVANCE
		Com::printF(Com::tQuadraticStepsColon, maxadv);
#endif
		Com::printFLN(Com::tCommaSpeedEqual, maxadvspeed);
#if ENABLE_QUADRATIC_ADVANCE
		maxadv = 0;
#endif
		maxadv2 = 0;
		maxadvspeed = 0;
		break;
#endif
#if USE_ADVANCE
	case 233: // M233
		if (com->hasY())
			Extruder::current->advanceL = com->Y;
		Com::printF(Com::tLinearLColon, Extruder::current->advanceL);
#if ENABLE_QUADRATIC_ADVANCE
		if (com->hasX())
			Extruder::current->advanceK = com->X;
		Com::printF(Com::tQuadraticKColon, Extruder::current->advanceK);
#endif
		Com::println();
		Printer::updateAdvanceFlags();
		break;
#endif
#if Z_HOME_DIR>0 && MAX_HARDWARE_ENDSTOP_Z
	case 251: // M251
		Printer::zLength -= Printer::currentPosition[Z_AXIS];
		Printer::currentPositionSteps[Z_AXIS] = 0;
		Printer::updateDerivedParameter();
#if NONLINEAR_SYSTEM
		transformCartesianStepsToDeltaSteps(Printer::currentPositionSteps, Printer::currentNonlinearPositionSteps);
#endif
		Printer::updateCurrentPosition();
		Com::printFLN(Com::tZProbePrinterHeight, Printer::zLength);
#if EEPROM_MODE != 0
		EEPROM::storeDataIntoEEPROM(false);
		Com::printFLN(Com::tEEPROMUpdated);
#endif
		Commands::printCurrentPosition(PSTR("M251 "));
		break;
#endif
#if FEATURE_DITTO_PRINTING
	case 280: // M280
#if DUAL_X_AXIS
		Extruder::dittoMode = 0;
		Extruder::selectExtruderById(0);
		Printer::homeXAxis();
		if (com->hasS() && com->S > 0) {
			Extruder::current = &extruder[1];
			PrintLine::moveRelativeDistanceInSteps(-Extruder::current->xOffset + static_cast<int32_t>(Printer::xLength*0.5*Printer::axisStepsPerMM[X_AXIS]), 0, 0, 0, EXTRUDER_SWITCH_XY_SPEED, true, true);
			Printer::currentPositionSteps[X_AXIS] = Printer::xMinSteps;
			Extruder::current = &extruder[0];
			Extruder::dittoMode = 1;
		}
#else
		if (com->hasS()) { // Set ditto mode S: 0 = off, 1 = 1 extra extruder, 2 = 2 extra extruder, 3 = 3 extra extruders
			Extruder::dittoMode = com->S;
		}
#endif
		break;
#endif
	case 281: // Trigger watchdog
#if FEATURE_WATCHDOG
	{
		if (com->hasX()) {
			HAL::stopWatchdog();
			Com::printFLN(PSTR("Watchdog disabled"));
			break;
		}
		Com::printInfoFLN(PSTR("Triggering watchdog. If activated, the printer will reset."));
		Printer::kill(false);
		HAL::delayMilliseconds(200); // write output, make sure heaters are off for safety
#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
		InterruptProtectedBlock noInts;         // don't disable interrupts on mega2560 and mega1280 because of bootloader bug
#endif
		while (1) {} // Endless loop
	}
#else
		Com::printInfoFLN(PSTR("Watchdog feature was not compiled into this version!"));
#endif
		break;
#if defined(BEEPER_PIN) && BEEPER_PIN>=0
	case 300: { // M300
		int beepS = 1;
		int beepP = 1000;
		if (com->hasS()) beepS = com->S;
		if (com->hasP()) beepP = com->P;
		HAL::tone(BEEPER_PIN, beepS);
		HAL::delayMilliseconds(beepP);
		HAL::noTone(BEEPER_PIN);
	}
			  break;
#endif
	case 302: // M302 S<0 or 1> - allow cold extrusion. Without S parameter it will allow. S1 will disallow.
		Printer::setColdExtrusionAllowed(!com->hasS() || (com->hasS() && com->S != 0));
		break;
	case 303: { // M303
#if defined(TEMP_PID) && NUM_TEMPERATURE_LOOPS > 0
		int temp = 150;
		int cont = 0;
		int cycles = 5;
		if (com->hasS()) temp = com->S;
		if (com->hasP()) cont = com->P;
		if (com->hasR()) cycles = static_cast<int>(com->R);
		if (cont >= HEATED_BED_INDEX) cont = HEATED_BED_INDEX;
		if (cont < 0) cont = 0;
		tempController[cont]->autotunePID(temp, cont, cycles, com->hasX());
#endif
	}
			  break;

#if FEATURE_AUTOLEVEL
	case 320: // M320 Activate autolevel
		Printer::setAutolevelActive(true);
		if (com->hasS() && com->S) {
			EEPROM::storeDataIntoEEPROM();
		}
		break;
	case 321: // M321 Deactivate autoleveling
		Printer::setAutolevelActive(false);
		if (com->hasS() && com->S) {
			if (com->S == 3)
				Printer::resetTransformationMatrix(false);
			EEPROM::storeDataIntoEEPROM();
		}
		break;
	case 322: // M322 Reset autoeveling matrix
		Printer::resetTransformationMatrix(false);
		if (com->hasS() && com->S) {
			EEPROM::storeDataIntoEEPROM();
		}
		break;
#endif // FEATURE_AUTOLEVEL
#if DISTORTION_CORRECTION
	case 323: // M323 S0/S1 enable disable distortion correction P0 = not permanent, P1 = permanent = default
		if (com->hasS()) {
			if (com->S > 0)
				Printer::distortion.enable(com->hasP() && com->P == 1);
			else
				Printer::distortion.disable(com->hasP() && com->P == 1);
		}
		else {
			Printer::distortion.reportStatus();
		}
		break;
#endif // DISTORTION_CORRECTION
#if FEATURE_SERVO
	case 340: // M340
		if (com->hasP() && com->P < 4 && com->P >= 0) {
			int s = 0;
			if (com->hasS())
				s = com->S;
			uint16_t r = 0;
			if (com->hasR())    // auto off time in ms
				r = com->R;
			HAL::servoMicroseconds(com->P, s, r);
		}
		break;
#endif // FEATURE_SERVO
	case 350: { // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
		OUT_P_LN("Set Microstepping");
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
		if (com->hasS()) for (int i = 0; i <= 4; i++) microstepMode(i, com->S);
		if (com->hasX()) microstepMode(0, (uint8_t)com->X);
		if (com->hasY()) microstepMode(1, (uint8_t)com->Y);
		if (com->hasZ()) microstepMode(2, (uint8_t)com->Z);
		if (com->hasE()) microstepMode(3, (uint8_t)com->E);
		if (com->hasP()) microstepMode(4, com->P); // Original B but is not supported here
		microstepReadings();
#endif
	}
			  break;
	case 355: // M355 S<0/1> - Turn case light on/off, no S = report status
		if (com->hasS()) {
			Printer::setCaseLight(com->S);
		}
		else
			Printer::reportCaseLightStatus();
		break;
	case 360: // M360 - show configuration
		Printer::showConfiguration();
		break;
	case 400: // M400 Finish all moves
		Commands::waitUntilEndOfAllMoves();
		break;
	case 401: // M401 Memory position
		Printer::MemoryPosition();
		break;
	case 402: // M402 Go to stored position
		Printer::GoToMemoryPosition(com->hasX(), com->hasY(), com->hasZ(), com->hasE(), (com->hasF() ? com->F : Printer::feedrate));
		break;
#if JSON_OUTPUT
	case 408:
		Printer::showJSONStatus(com->hasS() ? static_cast<int>(com->S) : 0);
		break;
#endif
	case 450:
		Printer::reportPrinterMode();
		break;
	case 451:
		Printer::mode = PRINTER_MODE_FFF;
		Printer::reportPrinterMode();
		break;
	case 452:
#if defined(SUPPORT_LASER) && SUPPORT_LASER
		Printer::mode = PRINTER_MODE_LASER;
#endif
		Printer::reportPrinterMode();
		break;
	case 453:
#if defined(SUPPORT_CNC) && SUPPORT_CNC
		Printer::mode = PRINTER_MODE_CNC;
#endif
		Printer::reportPrinterMode();
		break;
#if FAN_THERMO_PIN > -1
	case 460: // M460 X<minTemp> Y<maxTemp> : Set temperature range for thermo controlled fan
		if (com->hasX())
			Printer::thermoMinTemp = com->X;
		if (com->hasY())
			Printer::thermoMaxTemp = com->Y;
		break;
#endif
	case 500: { // M500
#if EEPROM_MODE != 0
		EEPROM::storeDataIntoEEPROM(false);
		Com::printInfoFLN(Com::tConfigStoredEEPROM);
#else
		Com::printErrorFLN(Com::tNoEEPROMSupport);
#endif
	}
			  break;
	case 501: { // M501
#if EEPROM_MODE != 0
		EEPROM::readDataFromEEPROM(true);
		Extruder::selectExtruderById(Extruder::current->id);
		Com::printInfoFLN(Com::tConfigLoadedEEPROM);
#else
		Com::printErrorFLN(Com::tNoEEPROMSupport);
#endif
	}
			  break;
	case 502: // M502
		EEPROM::restoreEEPROMSettingsFromConfiguration();
		break;
#if EXTRUDER_JAM_CONTROL
#ifdef DEBUG_JAM
	case 512:
		Com::printFLN(PSTR("Jam signal:"), (int16_t)READ(EXT0_JAM_PIN));
		break;
#endif // DEBUG_JAM
	case 513:
		Extruder::markAllUnjammed();
		break;
#endif // EXTRUDER_JAM_CONTROL
#ifdef DEBUG_QUEUE_MOVE
	case 533: { // M533 Write move data
		InterruptProtectedBlock noInts;
		int lc = (int)PrintLine::linesCount;
		int lp = (int)PrintLine::linesPos;
		int wp = (int)PrintLine::linesWritePos;
		int n = (wp - lp);
		if (n < 0) n += PRINTLINE_CACHE_SIZE;
		noInts.unprotect();
		if (n != lc)
			Com::printFLN(PSTR("Buffer corrupted"));
		Com::printF(PSTR("Buf:"), lc);
		Com::printF(PSTR(",LP:"), lp);
		Com::printFLN(PSTR(",WP:"), wp);
		if (PrintLine::cur == NULL) {
			Com::printFLN(PSTR("No move"));
			if (PrintLine::linesCount > 0) {
				PrintLine &cur = PrintLine::lines[PrintLine::linesPos];
				Com::printF(PSTR("JFlags:"), (int)cur.joinFlags);
				Com::printFLN(PSTR(" Flags:"), (int)cur.flags);
				if (cur.isWarmUp()) {
					Com::printFLN(PSTR(" warmup:"), (int)cur.getWaitForXLinesFilled());
				}
			}
		}
		else {
			Com::printF(PSTR("Rem:"), PrintLine::cur->stepsRemaining);
			Com::printFLN(PSTR(" Int:"), Printer::interval);
		}
	}
			  break;
#endif // DEBUG_QUEUE_MOVE
#ifdef DEBUG_SEGMENT_LENGTH
	case 534: // M534
		Com::printFLN(PSTR("Max. segment size:"), Printer::maxRealSegmentLength);
		if (com->hasS())
			Printer::maxRealSegmentLength = 0;
		break;
#endif
#ifdef DEBUG_REAL_JERK
		Com::printFLN(PSTR("Max. jerk measured:"), Printer::maxRealJerk);
		if (com->hasS())
			Printer::maxRealJerk = 0;
		break;
#endif
		/*      case 535:  // M535
		Com::printF(PSTR("Last commanded position:"),Printer::lastCmdPos[X_AXIS]);
		Com::printF(Com::tComma,Printer::lastCmdPos[Y_AXIS]);
		Com::printFLN(Com::tComma,Printer::lastCmdPos[Z_AXIS]);
		Com::printF(PSTR("Current position:"),Printer::currentPosition[X_AXIS]);
		Com::printF(Com::tComma,Printer::currentPosition[Y_AXIS]);
		Com::printFLN(Com::tComma,Printer::currentPosition[Z_AXIS]);
		Com::printF(PSTR("Position steps:"),Printer::currentPositionSteps[X_AXIS]);
		Com::printF(Com::tComma,Printer::currentPositionSteps[Y_AXIS]);
		Com::printFLN(Com::tComma,Printer::currentPositionSteps[Z_AXIS]);
		#if NONLINEAR_SYSTEM
		Com::printF(PSTR("Nonlin. position steps:"),Printer::currentDeltaPositionSteps[A_TOWER]);
		Com::printF(Com::tComma,Printer::currentDeltaPositionSteps[B_TOWER]);
		Com::printFLN(Com::tComma,Printer::currentDeltaPositionSteps[C_TOWER]);
		#endif // NONLINEAR_SYSTEM
		break;*/
		/* case 700: // M700 test new square root function
		if(com->hasS())
		Com::printFLN(Com::tInfo,(int32_t)HAL::integerSqrt(com->S));
		break;*/
#if FEATURE_CONTROLLER != NO_CONTROLLER && FEATURE_RETRACTION
	case 600:
		uid.executeAction(UI_ACTION_WIZARD_FILAMENTCHANGE, true);
		break;
#endif
	case 601:
		if (com->hasS() && com->S > 0)
			Extruder::pauseExtruders();
		else
			Extruder::unpauseExtruders();
		break;
	case 602:
		Commands::waitUntilEndOfAllMoves();
		if (com->hasS()) Printer::setDebugJam(com->S > 0);
		if (com->hasP()) Printer::setJamcontrolDisabled(com->P > 0);
		break;
	case 603:
		Printer::setInterruptEvent(PRINTER_INTERRUPT_EVENT_JAM_DETECTED, true);
		break;
	case 907: { // M907 Set digital trimpot/DAC motor current using axis codes.
#if STEPPER_CURRENT_CONTROL != CURRENT_CONTROL_MANUAL
				// If "S" is specified, use that as initial default value, then update each axis w/ specific values as found later.
		if (com->hasS()) {
			for (int i = 0; i < 10; i++) {
				setMotorCurrentPercent(i, com->S);
			}
		}

		if (com->hasX()) setMotorCurrentPercent(0, (float)com->X);
		if (com->hasY()) setMotorCurrentPercent(1, (float)com->Y);
		if (com->hasZ()) setMotorCurrentPercent(2, (float)com->Z);
		if (com->hasE()) setMotorCurrentPercent(3, (float)com->E);
#endif
	}
			  break;
	case 908: { // M908 Control digital trimpot directly.
#if STEPPER_CURRENT_CONTROL != CURRENT_CONTROL_MANUAL
		uint8_t channel, current;
		if (com->hasP() && com->hasS())
			setMotorCurrent((uint8_t)com->P, (unsigned int)com->S);
#endif
	}
			  break;
	case 909: { // M909 Read digital trimpot settings.
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_MCP4728
		dacPrintValues();
#endif
	}
			  break;
	case 910: // M910 - Commit digipot/DAC value to external EEPROM
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_MCP4728
		dacCommitEeprom();
#endif
		break;
#if 0 && UI_DISPLAY_TYPE != NO_DISPLAY
		// some debugging commands normally disabled
	case 888:
		Com::printFLN(PSTR("Selected language:"), (int)Com::selectedLanguage);
		Com::printF(PSTR("Translation:"));
		Com::printFLN(Com::translatedF(0));
		break;
	case 889:
		uid.showLanguageSelectionWizard();
		break;
	case 891:
		if (com->hasS())
			EEPROM::setVersion(com->S);
		break;
#endif
#if FEATURE_AUTOLEVEL && FEATURE_Z_PROBE
	case 890: {
		if (com->hasX() && com->hasY()) {
			float c = Printer::bendingCorrectionAt(com->X, com->Y);
			Com::printF(PSTR("Bending at ("), com->X);
			Com::printF(PSTR(","), com->Y);
			Com::printFLN(PSTR(") = "), c);
		}
	}
			  break;
#endif
	case 999: // Stop fatal error take down
		if (com->hasS())
			GCode::fatalError(PSTR("Testing fatal error"));
		else
			GCode::resetFatalError();
		break;
#ifdef IU_ALLOW_UNLOCK_HIGN_SPEED
	case 126:
		if (!com->hasA() || com->A != AWD_PASSWD)
			break;
		int dvalue;
		if (com->hasS())
			dvalue = com->S;
		else
			dvalue = 1;
		ResetMaxthermal(dvalue);
		break;
#endif
	case 127:
		char *ret;
		Com::printF(PSTR("Current Version:"));
		Com::print(GetCurrentVersion().c_str());
		Com::println();
		free(ret);
		break;
	case 128:
		if (!com->hasA() || com->A != AWD_PASSWD)
			break;
		ResetMaxthermal(10);
		Printer::homeAxis(true, true, true);
		waitUntilEndOfAllMoves();
		while (true)
		{
			Printer::moveToReal(X_MAX_LENGTH, Y_MAX_LENGTH, Z_MAX_LENGTH,IGNORE_COORDINATE,99999999,true);

			waitUntilEndOfAllMoves();
			Printer::moveToReal(0, 0, 0, IGNORE_COORDINATE, 9999999, true);
			waitUntilEndOfAllMoves();
		}
		break;
	case 129:
		if (!com->hasA() || com->A != AWD_PASSWD)
			break;
		AxisTest();
		break;
	default:
		if (!EVENT_UNHANDLED_M_CODE(com) && Printer::debugErrors()) {
			Com::printF(Com::tUnknownCommand);
			com->printCommand();
		}
	}
}

/**
brief Execute the command stored in com.
*/
void Commands::executeGCode(GCode *com) {
	if (INCLUDE_DEBUG_COMMUNICATION) {
		if (Printer::debugCommunication()) {
			if (com->hasG() || (com->hasM() && com->M != 111)) {
				previousMillisCmd = HAL::timeInMilliseconds();
				return;
			}
		}
	}
	if (com->hasG()) processGCode(com);
	else if (com->hasM()) processMCode(com);
	else if (com->hasT()) {    // Process T code
		//com->printCommand(); // for testing if this the source of extruder switches
		Commands::waitUntilEndOfAllMoves();
		Extruder::selectExtruderById(com->T);
	}
	else {
		if (Printer::debugErrors()) {
			Com::printF(Com::tUnknownCommand);
			com->printCommand();
		}
	}
#ifdef DEBUG_DRYRUN_ERROR
	if (Printer::debugDryrun()) {
		Com::printFLN("Dryrun was enabled");
		com->printCommand();
		Printer::debugReset(8);
	}
#endif
}

void Commands::emergencyStop() {
#if defined(KILL_METHOD) && KILL_METHOD == 1
	HAL::resetHardware();
#else
	//HAL::forbidInterrupts(); // Don't allow interrupts to do their work
	Printer::kill(false);
	Extruder::manageTemperatures();
	for (uint8_t i = 0; i < NUM_EXTRUDER + 3; i++)
		pwm_pos[i] = 0;
#if EXT0_HEATER_PIN > -1 && NUM_EXTRUDER > 0
	WRITE(EXT0_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN > -1 && NUM_EXTRUDER > 1
	WRITE(EXT1_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT2_HEATER_PIN) && EXT2_HEATER_PIN > -1 && NUM_EXTRUDER > 2
	WRITE(EXT2_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT3_HEATER_PIN) && EXT3_HEATER_PIN > -1 && NUM_EXTRUDER > 3
	WRITE(EXT3_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT4_HEATER_PIN) && EXT4_HEATER_PIN > -1 && NUM_EXTRUDER > 4
	WRITE(EXT4_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT5_HEATER_PIN) && EXT5_HEATER_PIN > -1 && NUM_EXTRUDER > 5
	WRITE(EXT5_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if FAN_PIN > -1 && FEATURE_FAN_CONTROL
	WRITE(FAN_PIN, 0);
#endif
#if HAVE_HEATED_BED && HEATED_BED_HEATER_PIN > -1
	WRITE(HEATED_BED_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
	UI_STATUS_UPD_F(Com::translatedF(UI_TEXT_KILLED_ID));
	HAL::delayMilliseconds(200);
	InterruptProtectedBlock noInts;
	while (1) {}
#endif
}

void Commands::checkFreeMemory() {
	int newfree = HAL::getFreeRam();
	if (newfree < lowestRAMValue)
		lowestRAMValue = newfree;
}

void Commands::writeLowestFreeRAM() {
	if (lowestRAMValueSend > lowestRAMValue) {
		lowestRAMValueSend = lowestRAMValue;
		Com::printFLN(Com::tFreeRAM, lowestRAMValue);
	}
}